116 lines
4.3 KiB
YAML
116 lines
4.3 KiB
YAML
# Aloha: A Low-Cost Hardware for Bimanual Teleoperation
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# https://aloha-2.github.io
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# https://www.trossenrobotics.com/aloha-stationary
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# Requires installing extras packages
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# With pip: `pip install -e ".[dynamixel intelrealsense]"`
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# With poetry: `poetry install --sync --extras "dynamixel intelrealsense"`
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_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
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robot_type: aloha
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# Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been
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# properly assembled, no manual calibration step is expected. If you need to run manual calibration,
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# simply update this path to ".cache/calibration/aloha"
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calibration_dir: .cache/calibration/aloha_default
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
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# When you feel more confident with teleoperation or running the policy, you can extend
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# this safety limit and even removing it by setting it to `null`.
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# Also, everything is expected to work safely out-of-the-box, but we highly advise to
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# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
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# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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max_relative_target: 5
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leader_arms:
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left:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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port: /dev/ttyDXL_leader_left
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motors: # window_x
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# name: (index, model)
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waist: [1, xm430-w350]
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shoulder: [2, xm430-w350]
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shoulder_shadow: [3, xm430-w350]
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elbow: [4, xm430-w350]
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elbow_shadow: [5, xm430-w350]
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forearm_roll: [6, xm430-w350]
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wrist_angle: [7, xm430-w350]
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wrist_rotate: [8, xl430-w250]
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gripper: [9, xc430-w150]
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right:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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port: /dev/ttyDXL_leader_right
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motors: # window_x
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# name: (index, model)
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waist: [1, xm430-w350]
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shoulder: [2, xm430-w350]
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shoulder_shadow: [3, xm430-w350]
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elbow: [4, xm430-w350]
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elbow_shadow: [5, xm430-w350]
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forearm_roll: [6, xm430-w350]
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wrist_angle: [7, xm430-w350]
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wrist_rotate: [8, xl430-w250]
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gripper: [9, xc430-w150]
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follower_arms:
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left:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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port: /dev/ttyDXL_follower_left
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motors:
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# name: [index, model]
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waist: [1, xm540-w270]
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shoulder: [2, xm540-w270]
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shoulder_shadow: [3, xm540-w270]
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elbow: [4, xm540-w270]
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elbow_shadow: [5, xm540-w270]
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forearm_roll: [6, xm540-w270]
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wrist_angle: [7, xm540-w270]
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wrist_rotate: [8, xm430-w350]
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gripper: [9, xm430-w350]
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right:
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_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
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port: /dev/ttyDXL_follower_right
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motors:
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# name: [index, model]
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waist: [1, xm540-w270]
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shoulder: [2, xm540-w270]
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shoulder_shadow: [3, xm540-w270]
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elbow: [4, xm540-w270]
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elbow_shadow: [5, xm540-w270]
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forearm_roll: [6, xm540-w270]
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wrist_angle: [7, xm540-w270]
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wrist_rotate: [8, xm430-w350]
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gripper: [9, xm430-w350]
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# Troubleshooting: If one of your IntelRealSense cameras freeze during
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# data recording due to bandwidth limit, you might need to plug the camera
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# on another USB hub or PCIe card.
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cameras:
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cam_high:
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_target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
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serial_number: 128422271347
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fps: 30
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width: 640
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height: 480
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cam_low:
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_target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
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serial_number: 130322270656
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fps: 30
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width: 640
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height: 480
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cam_left_wrist:
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_target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
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serial_number: 218622272670
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fps: 30
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width: 640
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height: 480
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cam_right_wrist:
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_target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
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serial_number: 130322272300
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fps: 30
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width: 640
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height: 480
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